A Study on Visual Servoing Control of Industrial Robot

被引：0
|
作者：
Lee, Woo-Song [1 ]
Eom, Jae-Hong [2 ]
Won, Jong-Dae [3 ]
Nguyen Huu Cong [4 ]
Han, Sung-Hyun [5 ]
机构：
[1] Sungsanamdeco Co Ltd, Chang Won 630803, South Korea
[2] Kyungnam Univ, Dept Adv Engn, Chang Won 631701, South Korea
[3] Youngchangrobotech Co Ltd, Chang Won 631701, South Korea
[4] Michelin Vietnam Co Ltd, Hanoi 10000, Vietnam
[5] Kyungnam Univ, Div Mech Engn, Chang Won 631701, South Korea
来源：
2012 12TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2012年
关键词：
Visual Feedback Control; Redundant Feature; Feature-Based Visual Tracking; Real-Time Control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents how it is effective to use many features for improving the accuracy of the visual servoing control for humanoid robot. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. Effectiveness of the redundant features is verified by the real time experiments on a Dual-Arm Robot manipulator system.
引用
收藏
页码：1886 / 1890
页数：5
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